BEI Sensors THK5 - Manual (Page 2)

POSI+ CANOPEN USER MANUAL
Page 2 Version 1.02
BEI IDEACOD SAS
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Tél : +33 (0)3 88 20 80 80
Fax : +33 (0)3 88 20 87 87
Mail : [email protected]
Web : www.bei-ideacod.com
CONTENTS
1. Introduction ............................................................................................................................................. 3
1.1 Absolute rotary encoder...................................................................................................................... 3
3
1.2 CANopen technology.......................................................................................................................... 3
1.3 CAN Communication Reference Model ............................................................................................ 5
1.4 Definitions .............................................................................................................................................. 6
1.5 Troubleshooting .................................................................................................................................... 7
2. Device Configuration ............................................................................................................................. 8
2.1. CANopen Data Transmission .............................................................................................................. 8
Data Transmission - COB-ID
2.2. Service data communication ............................................................................................................ 9
Request for parameter – Parameter to the encoder - Index / Sub-index - SDO examples:
Request of a value by the master from the slave
Writing of a value by the master into the slave
2.3 Process data communication ........................................................................................................... 11
Synchronous- Cyclical (asynchronous) - Response to an RTR message -Transmission of the current
position
3. Operational mode................................................................................................................................ 12
Init - Pre-operational mode - Operational mode - Stopped mode - Reset of the absolute rotary
encoder
4.Communication objects 1000h to 1FFFh (DS 301) .............................................................................. 14
Object 1010h: Store parameters
Object 1011h: Restore Default parameters
Object 1800h: 1st Transmit PDO communication Parameter
Transmission mode
COB-ID Structure
Inhibit Time (Sub-index 3)
Event Timer (Sub-index 5)
Object 1801h: 2nd Transmit PDO communication Parameter
5. Manufacturer-specific Objects 2000h to 5FFFh ................................................................................. 20
Object 2002h: Speed
Object 2005h: PDO type
Object 2100h: Transmission Rate
Object 2101h: Node Number
6. Encoder-specific objects 6000h to 9FFFh (DS 406)............................................................................ 22
Object 6000h: Operating Parameters
Object 6001h: Measuring Units per revolution
Object 6002h: Total measuring range in measuring units
Object 6003h: Preset Value
Object 6004h: Position Value
Object 6200h: Cyclic Timer
Object 6500h: Operating Status
Object 6501h: Singleturn Resolution (Rotary)
Object 6502h: Number of Distinguishable Revolutions
Object 6503h: Alarms
Object 6504h: Supported Alarms
Object 6505h: Warnings
Object 6506h: Supported Warnings
Object 6507h: Profile and Software Version
Object 650Ah: Module identification
Object 650Bh: Serial Number
Appendix: Compatibility with with the old encoders SHM5/SHU9/CHU9/MHM5 .............................. 31